TY - GEN
T1 - Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision
AU - Zhang, Lichuan
AU - Li, Yichen
AU - Pan, Guang
AU - Zhang, Yaobin
AU - Li, Saisai
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.
AB - Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.
KW - Autonomous underwater vehicle
KW - monocular vision
KW - rendezvous and docking
UR - http://www.scopus.com/inward/record.url?scp=85096515249&partnerID=8YFLogxK
U2 - 10.1109/OCEANSE.2019.8867192
DO - 10.1109/OCEANSE.2019.8867192
M3 - 会议稿件
AN - SCOPUS:85096515249
T3 - OCEANS 2019 - Marseille, OCEANS Marseille 2019
BT - OCEANS 2019 - Marseille, OCEANS Marseille 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 OCEANS - Marseille, OCEANS Marseille 2019
Y2 - 17 June 2019 through 20 June 2019
ER -